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Event.h
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1 #ifndef SimTK_SimTKCOMMON_EVENT_H_
2 #define SimTK_SimTKCOMMON_EVENT_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKcommon *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-12 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
32 #include "SimTKcommon/basics.h"
33 
34 namespace SimTK {
35 
40 
47 SimTK_DEFINE_UNIQUE_INDEX_TYPE(SystemEventTriggerIndex);
48 
57 SimTK_DEFINE_UNIQUE_INDEX_TYPE(SystemEventTriggerByStageIndex);
58 
62 SimTK_DEFINE_UNIQUE_INDEX_TYPE(EventTriggerByStageIndex);
63 
76 class Event {
77 public:
78 
123  class Cause {
124  public:
125  enum Num {
130  Signaled = 5,
132  Invalid = -1
133  };
134 
135  Cause() : value(Invalid) {}
136  Cause(Num n) : value(n) {} // implicit conversion
137  operator Num() const {return value;} // implicit conversion
138  Cause& operator=(Num n) {value=n; return *this;}
139 
140  bool isValid() const {return Initialization<=value && value<=Termination;}
141 
142  private:
143  Num value;
144  };
145 
148  SimTK_SimTKCOMMON_EXPORT static const char* getCauseName(Cause);
149 
150 
155  enum Trigger {
156  NoEventTrigger =0x0000, // must be 0
157 
158  PositiveToNegative =0x0001, // 1
159  NegativeToPositive =0x0002, // 2
160 
164  };
165 
169 
170 
174  static Trigger classifyTransition(int before, int after) {
175  if (before==after)
176  return NoEventTrigger;
177  if (before==0)
178  return NoEventTrigger; // Do not report transitions away from zero.
179  if (before==1)
180  return PositiveToNegative;
181  // before==-1
182  return NegativeToPositive;
183  }
184 
188  static Trigger maskTransition(Trigger transition, Trigger mask) {
189  // we're depending on NoEventTrigger==0
190  return Trigger(transition & mask);
191  }
192 
193 private:
194 };
195 
196 
206 public:
208  explicit EventTriggerInfo(EventId eventId);
209  ~EventTriggerInfo();
211  EventTriggerInfo& operator=(const EventTriggerInfo&);
212 
213  EventId getEventId() const; // returns -1 if not set
214  bool shouldTriggerOnRisingSignTransition() const; // default=true
215  bool shouldTriggerOnFallingSignTransition() const; // default=true
216  Real getRequiredLocalizationTimeWindow() const; // default=0.1
217 
218  // These return the modified 'this', like assignment operators.
219  EventTriggerInfo& setEventId(EventId);
220  EventTriggerInfo& setTriggerOnRisingSignTransition(bool);
221  EventTriggerInfo& setTriggerOnFallingSignTransition(bool);
222  EventTriggerInfo& setRequiredLocalizationTimeWindow(Real);
223 
225  unsigned mask = 0;
226  if (shouldTriggerOnRisingSignTransition()) {
228  }
229  if (shouldTriggerOnFallingSignTransition()) {
231  }
232  return Event::Trigger(mask);
233  }
234 
235  Event::Trigger calcTransitionToReport
236  (Event::Trigger transitionSeen) const
237  {
238  // report -1 to 1 or 1 to -1 as appropriate
239  if (transitionSeen & Event::Rising)
241  if (transitionSeen & Event::Falling)
243  assert(!"impossible event transition situation");
244  return Event::NoEventTrigger;
245  }
246 
247 private:
248  class EventTriggerInfoRep;
249 
250  // opaque implementation for binary compatibility
251  EventTriggerInfoRep* rep;
252 
253  const EventTriggerInfoRep& getRep() const {assert(rep); return *rep;}
254  EventTriggerInfoRep& updRep() {assert(rep); return *rep;}
255 };
256 
257 
258 
259 
260 //==============================================================================
261 // HANDLE EVENTS OPTIONS and HANDLE EVENTS RESULTS
262 //==============================================================================
266 public:
267  enum Option {
269  None = 0x0000,
273  DontThrow = 0x0001,
276  UseInfinityNorm = 0x0002
277  };
278 
279 
280  HandleEventsOptions() {clear();}
281  explicit HandleEventsOptions(Real accuracy)
282  { clear(); setAccuracy(accuracy); }
284  { clear(); setOption(opt); }
285 
290  { optionSet=0; setAccuracyDefaults(); return *this; }
291 
296  assert(accuracy > 0);
297  requiredAccuracy = accuracy;
298  return *this;
299  }
300 
304  { optionSet &= ~(unsigned)opt; return *this; }
308  { optionSet |= (unsigned)opt; return *this; }
309 
311  Real getAccuracy() const {return requiredAccuracy;}
312 
313  bool isOptionSet(Option opt) const {return (optionSet&(unsigned)opt) != 0;}
314 
315  static Real getDefaultAccuracy() {return Real(1e-4);}
316 
317  // Set operators: not, or, and, set difference
319  { optionSet |= opts.optionSet; return *this; }
321  { optionSet &= opts.optionSet; return *this; }
323  { optionSet &= ~opts.optionSet; return *this; }
324 
325  HandleEventsOptions& operator|=(Option opt) {setOption(opt); return *this;}
326  HandleEventsOptions& operator-=(Option opt) {clearOption(opt); return *this;}
327 
328 private:
329  Real requiredAccuracy;
330  unsigned optionSet;
331 
332  void setAccuracyDefaults() {
333  requiredAccuracy = getDefaultAccuracy();
334  }
335 };
336 
342 public:
343  HandleEventsResults() : m_lowestModifiedStage(Stage::Infinity) {clear();}
344 
345  enum Status {
347  Invalid = -1,
350  Succeeded = 0,
354  ShouldTerminate = 1,
358  Failed = 2
359  };
360 
364  m_exitStatus = Invalid;
365  m_anyChangeMade = false;
366  m_lowestModifiedStage = Stage::Infinity; // i.e., nothing modified
367  m_message.clear();
368  return *this;
369  }
370  bool isValid() const {return m_exitStatus != Invalid;}
371  Status getExitStatus() const {return m_exitStatus;}
372 
373  bool getAnyChangeMade() const
374  { assert(isValid()); return m_anyChangeMade; }
376  { assert(isValid()); return m_lowestModifiedStage; }
377  const String& getMessage() const
378  { assert(isValid()); return m_message; }
379 
381  { m_exitStatus=status; return *this; }
383  { m_anyChangeMade=changeMade; return *this; }
385  { m_lowestModifiedStage=stage; return *this; }
387  { m_message=message; return *this; }
388 private:
389  Status m_exitStatus;
390  bool m_anyChangeMade;
391  Stage m_lowestModifiedStage;
392  String m_message;
393 };
394 
395 } // namespace SimTK
396 
397 #endif // SimTK_SimTKCOMMON_EVENT_H_
#define SimTK_SimTKCOMMON_EXPORT
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:202
Trigger
Triggered Events respond to zero crossings of their associated trigger function.
Definition: Event.h:155
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)
HandleEventsOptions & operator-=(const HandleEventsOptions &opts)
Definition: Event.h:322
Definition: Event.h:162
static std::string eventTriggerString(Trigger)
This is useful for debugging; it translates an Event::Trigger or a mask formed by a union of Event::T...
Definition: Event.h:128
Definition: Event.h:156
Definition: Event.h:161
static Trigger classifyTransition(int before, int after)
Classify a before/after sign transition.
Definition: Event.h:174
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:50
Definition: Event.h:132
HandleEventsOptions & setAccuracy(Real accuracy)
The norm of the constraint errors must be driven to below this value for a project() to be considered...
Definition: Event.h:295
Definition: Event.h:163
Status getExitStatus() const
Definition: Event.h:371
bool isValid() const
Definition: Event.h:140
HandleEventsResults & setExitStatus(Status status)
Definition: Event.h:380
HandleEventsOptions & clearOption(Option opt)
Remove a given option from the set.
Definition: Event.h:303
bool isOptionSet(Option opt) const
Definition: Event.h:313
HandleEventsResults & setMessage(const String &message)
Definition: Event.h:386
HandleEventsOptions & setOption(Option opt)
Select a given option from the set.
Definition: Event.h:307
Definition: Event.h:130
An Event is "something that happens" during a Study that is advancing through time.
Definition: Event.h:76
Num
Definition: Event.h:125
Definition: Event.h:131
HandleEventsResults & setAnyChangeMade(bool changeMade)
Definition: Event.h:382
These are all the possible causes for events.
Definition: Event.h:123
HandleEventsOptions & operator-=(Option opt)
Definition: Event.h:326
Option
Definition: Event.h:267
HandleEventsOptions & clear()
Restore this object to its default-constructed state (no options selected, default accuracy)...
Definition: Event.h:289
HandleEventsOptions & operator|=(Option opt)
Definition: Event.h:325
HandleEventsOptions & operator|=(const HandleEventsOptions &opts)
Definition: Event.h:318
Cause()
Definition: Event.h:135
HandleEventsOptions()
Definition: Event.h:280
Stage getLowestModifiedStage() const
Definition: Event.h:375
Definition: Event.h:127
static const char * getCauseName(Cause)
This is useful for debugging; it translates an Event::Cause into a readable string.
Higher than any legitimate Stage.
Definition: Stage.h:63
Real getAccuracy() const
Return the current value for the accuracy option.
Definition: Event.h:311
HandleEventsOptions & operator&=(const HandleEventsOptions &opts)
Definition: Event.h:320
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
HandleEventsResults & clear()
Restore this object to its default-constructed state, with the return status set to Invalid...
Definition: Event.h:363
HandleEventsResults()
Definition: Event.h:343
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
Event::Trigger calcTransitionMask() const
Definition: Event.h:224
static Trigger maskTransition(Trigger transition, Trigger mask)
Given an observed transition, weed out ignorable ones using the supplied mask.
Definition: Event.h:188
Cause(Num n)
Definition: Event.h:136
Definition: Event.h:159
Status
Definition: Event.h:345
This class is used to communicate between the System and an Integrator regarding the properties of a ...
Definition: Event.h:205
bool getAnyChangeMade() const
Definition: Event.h:373
Definition: Event.h:129
Results returned by the handleEvent() method.
Definition: Event.h:341
HandleEventsOptions(Option opt)
Definition: Event.h:283
bool isValid() const
Definition: Event.h:370
Includes internal headers providing declarations for the basic SimTK Core classes.
Definition: Event.h:158
HandleEventsOptions(Real accuracy)
Definition: Event.h:281
Cause & operator=(Num n)
Definition: Event.h:138
HandleEventsResults & setLowestModifiedStage(Stage stage)
Definition: Event.h:384
const String & getMessage() const
Definition: Event.h:377
static Real getDefaultAccuracy()
Definition: Event.h:315
Options for the handleEvent() method.
Definition: Event.h:265
This is a class to represent unique IDs for events in a type-safe way.